% generate the index matrix for torso model
numberHip = 2;
numberSlope = 3;
numberTorso = 3; % include COM and linearized COM
IndexAll = zeros(numberHip*numberSlope*numberTorso,3);
ind = 1;
for i=1:numberHip
    for j = 1:numberSlope
        for k=1:numberTorso
            IndexAll(ind,:) = [i,j,k]; 
            ind = ind+1;
        end
    end
end
save('data/IndexAll.mat','IndexAll')